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/* Author: Robert Haschke */

#pragma once

#include "ros_msg_typecasters.h"
#include <geometry_msgs/PoseStamped.h>

namespace pybind11
{
namespace detail
{
/** Convienency type caster, also allowing to initialize PoseStamped from a string */
template <>
struct type_caster<geometry_msgs::PoseStamped> : RosMsgTypeCaster<geometry_msgs::PoseStamped>
{
  // Python -> C++
  bool load(handle src, bool convert)
  {
    type_caster<std::string> str_caster;
    if (convert && str_caster.load(src, false))
    {  // string creates identity pose with given frame
      value.header.frame_id = static_cast<std::string&>(str_caster);
      value.pose.orientation.w = 1.0;
      return true;
    }
    return RosMsgTypeCaster<geometry_msgs::PoseStamped>::load(src, convert);
  }
};

}  // namespace detail
}  // namespace pybind11
